A Ta tile Sensing for Estimating the Position and Orientationof a Joint - Axis of a Linked

of a Joint-Axis of a Linked Obje t Kazuya Matsuo, Kouji Murakami, Katsuya Niwaki, Tsutomu Hasegawa, Kenji Tahara, and Ryo Kurazume Abstra t—This paper des ribes a ta tile sensing to estimate the position and orientation of a joint-axis of a linked obje t. This ta tile sensing is useful when a multi-jointed multingered roboti hand manipulates a tool whi h has a joint. This estimation requires sensing of the lo ation of a onta t point and the dire tion of an edge of the tool as onta t information measured by a roboti ngertip. A onventional hard ngertip with a for e sensor an measure only the lo ation of a onta t point. In ontrast, we have already developed a roboti ngertip with a for e sensor and a soft skin, and it an measure not only the lo ation of a onta t point but also the dire tion of an edge of an obje t. The estimation of a joint-axis of a linked obje t is demonstrated by using the soft ngertip.